Pushing and pulling motion generation for humanoid robots using whole-body momentum control based on analytical inverse kinematics-Reference-Cited by-同舟云学术

Pushing and pulling motion generation for humanoid robots using whole-body momentum control based on analytical inverse kinematics

Published:2020-09-08 Issue:21-22 Volume:34 Page:1442-1454
ISSN:0169-1864
Container-title:Advanced Robotics
language:en
Short-container-title:Advanced Robotics

Author:

Hakamata Yuya¹,Tsuichihara Satoki²^ORCID,Garcia Ricardez Gustavo Alfonso¹^ORCID,Takamatsu Jun¹,Ogasawara Tsukasa¹

Affiliation:

1. Division of Information Science, Nara Institute of Science and Technology, Ikoma, Japan

2. Department of Human and Artificial Intelligent Systems, Faculty of Engineering, University of Fukui, Fukui, Japan

Funder

Japan Society for the Promotion of Science

Publisher

Informa UK Limited

Subject

Computer Science Applications,Hardware and Architecture,Human-Computer Interaction,Software,Control and Systems Engineering

Link

https://www.tandfonline.com/doi/pdf/10.1080/01691864.2020.1817778

Reference21 articles.

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3. Kajita S , Kanehiro F , Kaneko K , et al. Resolved momentum control: humanoid motion planning based on the linear and angular momentum, IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS); Vol. 2, Las Vegas, USA: IEEE Press; 2003, p. 1644–1650.

4. Hakamata Y , Tsuichihara S , Takamatsu J , et al. Whole body motion generation of humanoid robot using a predicted reaction force, IEEE-RAS Int. Conf. Humanoid Robots (Humanoids); Cancun, Mexico: IEEE Press; 2016. p. 95–100.

5. Righetti L , Buchli J , Mistry M , et al. Optimal distribution of contact forces with inverse-dynamics control. Robotics Res. 32(3):2013. p. 280–298.

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